CN113752265A - 一种机械臂避障路径规划方法、系统及装置 - Google Patents
一种机械臂避障路径规划方法、系统及装置 Download PDFInfo
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- CN113752265A CN113752265A CN202111191124.9A CN202111191124A CN113752265A CN 113752265 A CN113752265 A CN 113752265A CN 202111191124 A CN202111191124 A CN 202111191124A CN 113752265 A CN113752265 A CN 113752265A
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- mechanical arm
- tail end
- obstacle avoidance
- path
- collision
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims description 48
- 230000001133 acceleration Effects 0.000 claims description 34
- 239000011159 matrix material Substances 0.000 claims description 33
- 238000004590 computer program Methods 0.000 claims description 12
- 230000010354 integration Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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CN202111191124.9A CN113752265B (zh) | 2021-10-13 | 2021-10-13 | 一种机械臂避障路径规划方法、系统及装置 |
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CN202111191124.9A CN113752265B (zh) | 2021-10-13 | 2021-10-13 | 一种机械臂避障路径规划方法、系统及装置 |
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CN113752265A true CN113752265A (zh) | 2021-12-07 |
CN113752265B CN113752265B (zh) | 2024-01-05 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024002276A1 (zh) * | 2021-11-01 | 2024-01-04 | 华人运通(江苏)技术有限公司 | 脚本序列的确定方法、装置、电子设备及车辆 |
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2021
- 2021-10-13 CN CN202111191124.9A patent/CN113752265B/zh active Active
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US7657394B1 (en) * | 2007-03-12 | 2010-02-02 | Livermore Software Technology Corporation | Direct determination of rigid body motion using data collected from independent accelerometers |
WO2017173990A1 (zh) * | 2016-04-07 | 2017-10-12 | 北京进化者机器人科技有限公司 | 一种机器人避障中的最短路径规划方法 |
CN106003040A (zh) * | 2016-06-20 | 2016-10-12 | 国网上海市电力公司 | 一种具备避障功能的变电站巡检机器人系统 |
CN106289244A (zh) * | 2016-08-10 | 2017-01-04 | 极翼机器人(上海)有限公司 | 一种抗加速度干扰的姿态确定方法 |
CN107688342A (zh) * | 2017-03-27 | 2018-02-13 | 平安科技(深圳)有限公司 | 机器人的避障控制系统及方法 |
CN109960880A (zh) * | 2019-03-26 | 2019-07-02 | 上海交通大学 | 一种基于机器学习的工业机器人避障路径规划方法 |
US20200368904A1 (en) * | 2019-05-20 | 2020-11-26 | Russell Aldridge | Remote robotic welding with a handheld controller |
CN110450680A (zh) * | 2019-08-13 | 2019-11-15 | 浙江大学台州研究院 | 接触网支柱智能作业机械设备 |
CN211018049U (zh) * | 2019-10-15 | 2020-07-14 | 国网湖南省电力有限公司 | 一种配网带电断、接引线机器人的作业机械手 |
EP3812106A1 (de) * | 2019-10-23 | 2021-04-28 | Robert Bosch GmbH | Roboteranordnung, verfahren zum betreiben der roboteranordnung, computerprogramm sowie maschinenlesbares speichermedium |
US20210154841A1 (en) * | 2019-11-22 | 2021-05-27 | Edda Technology, Inc. | Deterministic robot path planning method for obstacle avoidance |
CN111923039A (zh) * | 2020-07-14 | 2020-11-13 | 西北工业大学 | 一种基于强化学习的冗余机械臂路径规划方法 |
CN112847358A (zh) * | 2020-12-31 | 2021-05-28 | 深圳辰视智能科技有限公司 | 一种路径规划方法及工业机器人 |
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孙丽;秦永元;: "捷联惯导系统姿态算法比较", 中国惯性技术学报, no. 03, pages 8 - 12 * |
宗成星等: "一种基于A*算法的空间多自由度机械臂路径规划方法", 合肥工业大学学报(自然科学版), no. 02, pages 26 - 30 * |
尹剑;陈红;杨萌;黄皓;: "捷联姿态计算中方向余弦与四元数法分析比较", 四川兵工学报, no. 09, pages 111 - 115 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024002276A1 (zh) * | 2021-11-01 | 2024-01-04 | 华人运通(江苏)技术有限公司 | 脚本序列的确定方法、装置、电子设备及车辆 |
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